Robot system with gripping mechanism

Abstract

Disclosed herein is an object clamping assembly and associated systems and methods. In some embodiments, the object clamping assembly includes: a first carrier plate having a first mounting track extending along a first axis; and two or more second carrier plates, the two or more second carrier plates being movably carried by the first mounting track. Each of the two or more second carrier plates may include at least a second mounting track extending along a second axis and an extendable clamping member movably carried by the second mounting track. A first spacing adjustment member can be operably coupled to the two or more second carrier plates to controllably change the spacing of the two or more second carrier plates along the first mounting track. A second spacing adjustment member can be operably coupled to the extendable clamping member on the corresponding second carrier plate to controllably change the spacing of the extendable clamping member along the second mounting track.

Description

[0001] This application is a divisional application of Chinese application CN202111623243.7, the application date of which is December 28, 2021, and the name of the invention is "Robot system with clamping mechanism".

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 136,207, filed on January 12, 2021, which is incorporated herein by reference in its entirety. Technical Field

[0004] The present technology generally relates to a robotic system having a gripping mechanism, and more particularly to a robotic system having a gripping mechanism with a controllable and variable spacing. Background Art

[0005] With the continuous improvement of the performance and reduction of the cost of robots (e.g., machines configured to automatically / autonomously perform physical actions), many robots are now widely used in many fields. For example, robots can be used to perform various tasks (e.g., manipulating or transferring objects in space) in the process of manufacturing and / or assembly, packaging and / or packaging, transportation and / or delivery, etc. When performing tasks, robots can replicate human actions, thereby replacing or reducing the human participation that would otherwise be required to perform dangerous or repetitive tasks.

[0006] However, despite technological advances, robots generally lack the sophistication necessary to replicate the human-machine interaction required to perform larger and / or more complex tasks. Thus, there remains a need for improved techniques and systems for managing operations and / or interactions between robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 is an illustration of an example environment in which a robotic system with a gripping mechanism may operate in accordance with some embodiments of the present technology.

[0008] Figure 2 is a diagram showing some embodiments according to the present technology Figure 1 Block diagram of the robot system.

[0009] Figure 3 is a side view of a robotic system having an object gripping assembly with a controllable, variable spacing setting mechanism according to some embodiments of the present technology.

[0010] Figure 4A and Figure 4B is an isometric view of an object holding assembly according to some embodiments of the present disclosure.

[0011] Figure 5is an isometric view of a spacing adjustment component according to some embodiments of the present technology.

[0012] Figure 6 and Figure 7 is an isometric view of a stop mechanism for a spacing adjustment component according to some embodiments of the present technology.

[0013] Fig. 8A and Figure 8B is an isometric view of a spacing adjustment component at various spacing settings according to some embodiments of the present technology.

[0014] Figures 9 to 11 is an isometric view of an object holding assembly under various operating parameters according to some embodiments of the present technology.

[0015] Fig.12 is a flow chart of a process for operating an object gripping assembly under various operating parameters in accordance with some embodiments of the present technology.

[0016] Fig.13 is a flow chart of a process for setting minimum and / or maximum operating settings of an object clamping assembly according to some embodiments of the present technology.

[0017] The drawings are not necessarily drawn to scale. Similarly, for the purpose of discussing some implementations of the present technology, some components and / or operations may be divided into different blocks or combined into a single block. In addition, although the present technology can easily produce various modifications and alternative forms, the specific implementation is illustrated in the drawings and described in detail below. However, it is not intended to limit the technology to the specific implementation described. On the contrary, the present technology is intended to cover all modifications, equivalents and substitutions within the scope of the present technology as defined by the appended claims. DETAILED DESCRIPTION

[0018] Overview

[0019] Disclosed herein is an object clamping assembly with variable spacing and an operation method thereof. In some embodiments, the object clamping assembly includes a first carrier plate having an upper surface and a lower surface. The upper surface may include a flange configured to be connected to a mechanical arm or other suitable positioning mechanism, and the lower surface may include one or more first mounting tracks extending along a first axis (e.g., in the x direction). The first mounting track can slidably carry a plurality of second carrier plates. Each second carrier plate may include one or more second mounting tracks, which extend along a second axis (e.g., in the y direction) that is at least partially orthogonal to the first axis. A plurality of extendable clamping components are slidably carried by the second mounting track. The first carrier plate may also carry a first spacing adjustment plate operably coupled to the second carrier plate. The position of the first spacing adjustment plate controls the spacing of the second carrier plate on the first axis. Therefore, the movement of the first spacing adjustment plate controllably adjusts the spacing of the plurality of second carrier plates. Additionally or alternatively, each second carrier plate may carry a plurality of second spacing adjustment plates, which are operably coupled to the extendable clamping components on the corresponding second carrier plate. The position of the second spacing adjustment plate controls the spacing of the extendable clamping components on the second axis. Thus, movement of the second spacing adjustment plate controllably adjusts the spacing of the extendable clamping members.

[0020] In some embodiments, the object clamping assembly includes a first expandable member operably connected between the first spacing adjustment plate and the first carrier plate. As the first expandable member expands (or retracts), the first expandable member adjusts the position of the first spacing adjustment plate relative to the first carrier plate. Therefore, the expansion (or retraction) of the first expandable member can controllably adjust the spacing of the second carrier plate along the first axis.

[0021] Similarly, in some embodiments, the object clamping assembly includes a plurality of second expandable components operably connected between a corresponding second spacing adjustment plate and a second carrier plate. As the second expandable components are expanded (or retracted), the second expandable components adjust the position of the second spacing adjustment plate relative to the second carrier plate. Therefore, the expansion (or retraction) of the second expandable components can controllably adjust the spacing of the extendable clamping components along the second axis. In some such embodiments, each second carrier plate includes one or more vertical mounting rails extending on a vertical axis that is at least partially orthogonal to the first axis and the second axis (for example, in the z direction). The second spacing adjustment plate can be slidably carried by the vertical mounting rails on the corresponding second carrier plate at a position set by the second expandable component.

[0022] In some embodiments, one or more second carrier plates include one or more stop members that can be operated between an engaged position and a disengaged position. In the engaged position, the stop member prevents the corresponding second spacing adjustment plate from moving beyond a position predetermined by the position of the stop member. By preventing movement beyond the predetermined position, the stop member can set the minimum and / or maximum spacing of the extendable clamping member. In some embodiments, the predetermined position can be adjusted as needed (e.g., before, simultaneously with, or after engaging the stop member), thereby allowing the minimum and / or maximum spacing to be easily adjusted. In some embodiments, one or more second carrier plates include two stop members, thereby allowing the first stop member to set the maximum spacing of the extendable clamping member and the second stop member to set the minimum spacing.

[0023] In various embodiments, each extendable gripping member may include a gripping member, such as a suction element, a vacuum port, a magnetic member, a pneumatic gripper, a robotic gripper, and / or any other suitable member. In some embodiments, a first subset of extendable gripping members has a first gripping member (e.g., a suction element), while a second subset of extendable gripping members has a second gripping member (e.g., a magnetic element). Additionally, in some embodiments, each extendable gripping member may be independently extended and / or actuated to grip and release an object, thereby allowing any subset of the extendable gripping members to operate at a given time. As a result, the object gripping assembly may customize the spacing of the extendable gripping members and / or the total number of extendable gripping members operating at one time.

[0024] For ease of reference, object holding assemblies are sometimes described herein with reference to top and bottom, upper and lower, upward and downward, xy direction, z direction, horizontal or vertical planes relative to the spatial orientation of the embodiments shown in the figures. However, it should be understood that the object holding assemblies can be moved to and used in different spatial orientations without changing the structure and / or function of the disclosed embodiments of the present technology.

[0025] In addition, for the sake of clarity, several details describing structures or processes that are well known and commonly associated with robotic systems and subsystems but that may unnecessarily obscure some important aspects of the disclosed technology are not set forth in the following description. In addition, although the following disclosure sets forth several embodiments of different aspects of the present technology, several other embodiments may have configurations or components that are different from those described in this section. Therefore, the disclosed technology may have other embodiments with additional elements or without several of the elements described below.

[0026] Many embodiments or aspects of the present disclosure described below may take the form of computer-executable or controller-executable instructions, including routines executed by programmable computers or controllers. Those skilled in the relevant art will appreciate that the disclosed technology may be practiced on a computer or controller system other than the computer or controller system shown and described below. The technology described herein may be embodied in a special-purpose computer or data processor, which is specifically programmed, configured or constructed to execute one or more of the computer-executable instructions described below. Therefore, the terms "computer" and "controller" as commonly used herein refer to any data processor, and may include Internet appliances and handheld devices, including palmtop computers, wearable computers, cellular or mobile phones, multiprocessor systems, processor-based or programmable consumer electronic devices, network computers, minicomputers, etc. The information handled by these computers and controllers may be presented on any suitable display medium, including a liquid crystal display (LCD). Instructions for executing tasks executable by a computer or controller may be stored in or on any suitable computer-readable medium, including hardware, firmware, or a combination of hardware and firmware. The instructions may be contained in any suitable memory device including, for example, a flash drive, a USB device, and / or other suitable media.

[0027] The terms "connection" and "connection" and their derivatives may be used in this article to describe the structural relationship between components. It should be understood that these terms are not intended to be synonymous with each other. Rather, in a particular embodiment, "connection" can be used to indicate that two or more elements are in direct contact with each other. Unless otherwise apparent in context, the term "connection" can be used to indicate that two or more elements are in direct or indirect contact with each other (with other intermediate elements between them), or two or more elements cooperate or interact with each other (for example, interact with a causal relationship, such as for signal transmission / reception or for function call), or both.

[0028] Example environment for the robotics system

[0029] Figure 1 is an illustration of an example environment in which a robotic system 100 having an object handling mechanism may operate. The operating environment of the robotic system 100 may include one or more structures, such as robots or robotic devices, configured to perform one or more tasks. Aspects of the object handling mechanism may be practiced or implemented by various structures and / or components.

[0030] exist Figure 1In the example shown in , the robotic system 100 may include an unloading unit 102, a transfer unit 104, a transport unit 106, a loading unit 108, or a combination thereof, in a warehouse, a distribution center, or a shipping hub. Each unit in the robotic system 100 may be configured to perform one or more tasks. Tasks may be combined in sequence to perform operations that achieve a goal, such as unloading objects from a vehicle (such as a truck, trailer, van, or railcar) for storage in a warehouse, or unloading objects from a storage location and loading them onto a vehicle for delivery. In another example, a task may include moving an object from one location (such as a container, box, cage, basket, shelf, platform, pallet, or conveyor) to another location. Each unit may be configured to perform a series of actions (such as operating one or more components therein) to perform a task.

[0031] In some embodiments, the task may include interaction with a target object 112, such as manipulation, movement, reorientation, or a combination thereof of an object. The target object 112 is an object to be loaded and unloaded by the robotic system 100. More specifically, the target object 112 may be a specific object among many objects that is the target of an operation or task of the robotic system 100. For example, the target object 112 may be an object that the robotic system 100 has selected to or is currently loading and unloading, manipulating, moving, reorienting, or a combination thereof. As an example, the target object 112 may include a box, a case, a tube, a package, a bale, a miscellaneous individual item, or any other object that may be loaded and unloaded by the robotic system 100.

[0032] As an example, a task may include transferring a target object 112 from an object source 114 to a task location 116. Object source 114 is a container for storing objects. Object source 114 may include numerous configurations and forms. For example, object source 114 may be a platform with or without walls on which objects may be placed or stacked, such as a tray, a shelf, or a conveyor belt. In addition, object source 114 may be a partially or completely enclosed container with walls or a lid, such as a box, a cage, or a basket, in which objects may be placed. In some embodiments, the walls of partially or completely enclosed object source 114 may be transparent, or may include openings or gaps of various sizes so that portions of the objects contained therein may be visible or partially visible through the walls.

[0033] Figure 1Examples of possible functions and operations that may be performed by various units of the robotic system 100 during loading and unloading of a target object 112 are shown, and it should be understood that the environment and conditions may be different from the environment and conditions described below. For example, the unloading unit 102 may be a vehicle unloading robot that is configured to transfer the target object 112 from a position in a vehicle (such as a truck) to a position on a conveyor belt. Moreover, the transfer unit 104, such as a palletizing robot, may be configured to transfer the target object 112 from a position on a conveyor belt to a position on a transport unit 106, such as for loading the target object 112 on a pallet on the transport unit 106. In another example, the transfer unit 104 may be a piece picking robot that is configured to transfer the target object 112 from one container to another container. Upon completion of the operation, the transport unit 106 may transfer the target object 112 from an area associated with the transfer unit 104 to an area associated with the loading unit 108, and the loading unit 108 may transfer the target object 112 from the transfer unit 104 to a storage location (such as a location on a shelf) (such as by moving a pallet carrying the target object 112). Details regarding the tasks and associated actions are described below.

[0034] For illustrative purposes, the robotic system 100 is described in the context of a shipping center; however, it should be understood that the robotic system 100 may be configured to perform tasks in other environments or for other purposes, such as for manufacturing, assembly, packaging, healthcare, or other types of automation. It should also be understood that the robotic system 100 may include Figure 1 Other units not shown in the figure, such as manipulators, service robots, modular robots, etc. For example, in some embodiments, the robot system 100 may include: a depalletizing unit for transferring objects from a cage, a cart, or a pallet to a conveyor belt or other pallets; a container switching unit for transferring objects from one container to another container; a packaging unit for packaging objects; a sorting unit for grouping objects according to one or more characteristics of the objects; a picking unit for manipulating (such as, sorting, grouping and / or transferring) objects in different ways according to one or more characteristics of the objects; or a combination thereof.

[0035] The robotic system 100 may include a controller 109 configured to interface with and / or control one or more of the robotic units. For example, the controller 109 may include circuitry (e.g., one or more processors, memory, etc.) configured to derive motion plans and / or corresponding commands, settings, etc. for operating the corresponding robotic units. The controller 109 may transmit the motion plans, commands, settings, etc. to the robotic units, and the robotic units may execute the transmitted plans to complete the corresponding tasks, such as transferring the target object 112 from the object source 114 to the task location 116.

[0036] Suitable system

[0037] Figure 2 1 is a block diagram illustrating a robot system 100 according to one or more embodiments of the present invention. In some embodiments, for example, the robot system 100 may include a plurality of robot systems connected to each other, as described above. Figure 1 , electronic devices, or a combination thereof, integrated or connected to one or more units or robots described in the specification, such as a control unit 202 (sometimes referred to herein as a "processor" 202), a storage unit 204, a communication unit 206, a system input / output (I / O) device 208 with a system interface 210 (sometimes also referred to herein as a "user interface 210"), one or more actuators 212, one or more transport motors 214, one or more sensor units 216, or a combination thereof.

[0038] The control unit 202 can be implemented in a variety of different ways. For example, the control unit 202 can be a processor, an application specific integrated circuit (ASIC), an embedded processor, a microprocessor, hardware control logic, a hardware finite state machine (FSM), a digital signal processor (DSP), or a combination thereof. The control unit 202 can execute software and / or instructions to provide intelligence for the robotic system 100.

[0039] The control unit 202 may be operably coupled to a user interface 210 to provide control of the control unit 202 to a user. The user interface 210 may be used for communication between the control unit 202 and other functional units in the robot system 100. The user interface 210 may also be used for communication outside the robot system 100. The user interface 210 may receive information from other functional units or from external sources, or may send information to other functional units or external destinations. External sources and external destinations refer to sources and destinations outside the robot system 100.

[0040] The user interface 210 may be implemented in different ways and may include different implementations, depending on which functional units or external units are being interfaced with the user interface 210. For example, the user interface 210 may be implemented with a pressure sensor, an inertial sensor, a micro-electromechanical system (MEMS), an optical circuit, a waveguide, a wireless circuit, a wired circuit, an application programming interface, or a combination thereof.

[0041] The storage unit 204 may store software instructions, master data, tracking data, or a combination thereof. For purposes of illustration, the storage unit 204 is shown as a single element, but it should be understood that the storage unit 204 may be a distribution of storage elements. Also for purposes of illustration, the robotic system 100 is shown as having the storage unit 204 as a single-level storage system, but it should be understood that the robotic system 100 may have the storage unit 204 in a different configuration. For example, the storage unit 204 may be formed by different storage technologies forming a memory hierarchy system including different levels of cache, main memory, rotating media, or offline storage.

[0042] The storage unit 204 may be a volatile memory, a non-volatile memory, an internal memory, an external memory, or a combination thereof. For example, the storage unit 204 may be a non-volatile memory such as a non-volatile random access memory (NVRAM), a flash memory, a disk storage, or a volatile memory such as a static random access memory (SRAM). As another example, the storage unit 204 may be a non-transitory computer medium including a non-volatile memory, such as a hard drive, an NVRAM, a solid state storage device (SSD), a compact disc (CD), a digital video disc (DVD), or a universal serial bus (USB) flash memory device. The software may be stored on a non-transitory computer readable medium for execution by the control unit 202.

[0043] The storage unit 204 may be operably coupled to a user interface 210. The user interface 210 may be used for communication between the storage unit 204 and other functional units in the robot system 100. The user interface 210 may also be used for communication outside the robot system 100. The user interface 210 may receive information from other functional units or from external sources, or may send information to other functional units or external destinations. External sources and external destinations refer to sources and destinations outside the robot system 100.

[0044] Similar to the discussion above, the user interface 210 may include different implementations depending on which functional units or external units are being interfaced with the storage unit 204. The user interface 210 may be implemented using similar techniques and technologies as the implementations of the user interface 210 described above.

[0045] In some embodiments, the storage unit 204 is used to further store and provide access to processing results, predetermined data, thresholds, or combinations thereof. For example, the storage unit 204 may store master data including descriptions of one or more target objects 112 (e.g., boxes, box types, boxes, box types, products, and / or combinations thereof). In one embodiment, the master data includes dimensions, predetermined shapes, templates of potential poses and / or computer-generated models for identifying different poses, color schemes, images, identification information (e.g., bar codes, quick response (QR) codes, logos, etc.), expected locations, expected weights, and / or combinations thereof of one or more target objects 112 that are expected to be manipulated by the robotic system 100.

[0046] In some embodiments, the master data includes manipulation-related information about one or more objects that the robotic system 100 may encounter or handle. For example, the manipulation-related information of the objects may include the center of mass position on each object, expected sensor measurements (e.g., force, torque, pressure, and / or contact measurements) corresponding to one or more actions, manipulations, or a combination thereof.

[0047] The communication unit 206 may enable the robot system 100 to communicate with the outside. For example, the communication unit 206 may enable the robot system 100 to communicate with other robot systems or units, external devices (such as external computers, external databases, external machines, external peripheral devices), or a combination thereof through a communication path 218 (such as a wired or wireless network).

[0048] The communication path 218 may span and represent a variety of networks and network topologies. For example, the communication path 218 may include wireless communication, wired communication, optical communication, ultrasonic communication, or a combination thereof. For example, satellite communication, cellular communication, Bluetooth, infrared data association standard (lrDA), wireless fidelity (WiFi), and world microwave access interoperability (WiMAX) are examples of wireless communication that may be included in the communication path 218. Cable, Ethernet, digital subscriber line (DSL), fiber optic line, fiber to the home (FTTH), and plain old telephone service (POTS) are examples of wired communication that may be included in the communication path 218. In addition, the communication path 218 may traverse multiple network topologies and distances. For example, the communication path 218 may include a direct connection, a personal area network (PAN), a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), or a combination thereof. The robot system 100 may transmit information between the various units via the communication path 218. For example, information may be transmitted between the control unit 202 , the storage unit 204 , the communication unit 206 , the I / O device 208 , the actuator 212 , the transport motor 214 , the sensor unit 216 , or a combination thereof.

[0049] The communication unit 206 may also function as a communication hub, allowing the robotic system 100 to function as part of the communication path 218 and not be limited to being an endpoint or terminal unit of the communication path 218. The communication unit 206 may include active and passive components for interacting with the communication path 218, such as microelectronics or an antenna.

[0050] The communication unit 206 may include a communication interface 248. The communication interface 248 may be used for communication between the communication unit 206 and other functional units in the robot system 100. The communication interface 248 may receive information from other functional units or from external sources, or may send information to other functional units or external destinations. External sources and external destinations refer to sources and destinations outside the robot system 100.

[0051] The communication interface 248 may include different implementations depending on which functional units are being interfaced with the communication unit 206. The communication interface 248 may be implemented with similar techniques and technologies as the implementation of the control interface 240.

[0052] The I / O device 208 may include one or more input sub-devices and / or one or more output sub-devices. Examples of input devices of the I / O device 208 may include a keypad, a touch pad, soft keys, a keyboard, a microphone, a sensor for receiving remote signals, a camera for receiving motion commands, or any combination thereof to provide data and communication input. Examples of output devices may include a display interface. The display interface may be any graphical user interface, such as a display, a projector, a video screen, and / or any combination thereof.

[0053] The control unit 202 may operate the I / O device 208 to present or receive information generated by the robotic system 100. The control unit 202 may operate the I / O device 208 to present information generated by the robotic system 100. The control unit 202 may also execute software and / or instructions for other functions of the robotic system 100. The control unit 202 may also execute software and / or instructions for interacting with the communication path 218 via the communication unit 206.

[0054] The robotic system 100 may include physical or structural members connected at joints for motion (such as rotational displacement, translational displacement, or a combination thereof), such as a robotic manipulator arm. The structural members and joints may form a power chain that is configured to manipulate an end effector (such as a gripping element) to perform one or more tasks, such as gripping, spinning, or welding, depending on the use or operation of the robotic system 100. The robotic system 100 may include an actuation device 212, such as a motor, an actuator, a wire, an artificial muscle, an electroactive polymer, or a combination thereof, configured to drive, manipulate, displace, reorient, or a combination thereof, the structural member around or at a corresponding joint. In some embodiments, the robotic system 100 may include a transport motor 214 that is configured to transport the corresponding unit from one place to another.

[0055] The robotic system 100 may include a sensor unit 216 configured to obtain information for performing tasks and operations, such as for manipulating a structural member or for transporting a robotic unit. The sensor unit 216 may include a device configured to detect or measure one or more physical properties of the robotic system 100, such as a state, condition, position of one or more structural members or joints, information about an object or surrounding environment, or a combination thereof. As an example, the sensor unit 216 may include an imaging device, a system sensor, a contact sensor, and / or any combination thereof.

[0056] In some embodiments, the sensor unit 216 includes one or more imaging devices 222. The imaging device 222 is a device configured to detect and image the surrounding environment. For example, the imaging device 222 may include a 2D camera, a 3D camera, both of which may include a combination of visual and infrared capabilities, a lidar, a radar, other distance measuring devices, and other imaging devices. The imaging device 222 can generate a representation of the detected environment (such as a digital image or a point cloud) that is used to implement machine / computer vision for automated inspection, robot guidance, or other robotic applications. As described in further detail below, the robotic system 100 can process the digital image, point cloud, or a combination thereof via the control unit 202 to identify Figure 1 To manipulate the target object 112, the robot system 100 may capture and analyze images of a designated area (such as the interior of a truck, the interior of a container, or an object pickup location on a conveyor belt) to identify the target object 112, the posture of the target object 112, or a combination thereof. Figure 1 Similarly, the robotic system 100 may capture and analyze images of another designated area (such as a drop location for placing an object on a conveyor, a location for placing an object inside a container, or a location on a pallet for stacking purposes) to identify a target object 112 and its object source 114. Figure 1 The task location is 116.

[0057] In some embodiments, the sensor unit 216 may include a system sensor 224. The system sensor 224 may monitor the robotic units within the robotic system 100. For example, the system sensor 224 may include a unit or device for detecting and monitoring the position of structural members, such as a robotic arm and end effector, respective joints of the robotic unit, or a combination thereof. As another example, the robotic system 100 may use the system sensor 224 to track the position, orientation, or a combination thereof of structural members and joints during task performance. Examples of the system sensor 224 may include an accelerometer, a gyroscope, or a position encoder.

[0058] In some embodiments, the sensor unit 216 may include a contact sensor 226, such as a pressure sensor, a force sensor, a strain gauge, a piezoresistive / piezoelectric sensor, a capacitive sensor, an elastic resistive sensor, a torque sensor, a linear force sensor, other tactile sensors, and / or any other suitable sensor configured to measure characteristics associated with direct contact between multiple physical structures or surfaces. For example, the contact sensor 226 may measure a characteristic corresponding to the end effector's grip on the target object 112, or measure the weight of the target object 112. Thus, the contact sensor 226 may output a contact measurement result that represents a quantitative measurement result corresponding to the degree of contact or attachment between the gripping element and the target object 112, such as a measured force or torque. For example, the contact measurement result may include one or more force or torque readings associated with the force applied by the end effector to the target object 112.

[0059] Suitable object holding assembly with variable spacing mechanism

[0060] Figure 3 is a robot unit 300 (e.g., for Figure 1 100, sometimes also referred to as a robot subsystem). In the illustrated embodiment, the robot system 100 includes a robotic arm 310 and an end effector (e.g., an object gripping assembly 320) attached to / carried by the robotic arm 310. Figure 3As shown, the robot arm 310 may include a first flange 312 and one or more joints 314 (three are shown), and the object gripping assembly 320 includes a second flange 322 operably coupled to the first flange 312 of the robot arm 310. When joined together, the first flange 312 and the second flange 322 may establish a physical connection and one or more communication connections (e.g., an electrical connection, a fluid connection, or other suitable communication connections). The physical connection allows the robot arm 310 to carry the object gripping assembly 320, while the communication connection allows the object gripping assembly 320 to be controlled through the connection with the robot arm 310.

[0061] One or more joints 314 allow the robot arm 310 to controllably position the object gripper assembly 320 over a target object (e.g., Figure 1 Once positioned, the object gripping assembly 320 can be operated to grip the target object. One or more joints 314 can then controllably position the object gripping assembly 320 with the robotic arm 310 to move the target object between multiple positions (e.g., between a pick-up position and a drop position). Once the object gripping assembly 320 is positioned over the desired position, the object gripping assembly 320 can be operated to release the target object. FIG. 4A to FIG. 13 To provide additional details regarding the operation of the object clamping assembly 320.

[0062] Figure 4A and Figure 4B is an isometric view of an object clamping assembly 320 according to some embodiments of the present technology. As shown, the object clamping assembly 320 may include a first carrier plate 424, one or more second carrier plates 430 (four are shown, individually labeled as second carrier plates 430a-430d) carried by the first carrier plate 424, and two or more extendable clamping members 470 (e.g., thirty-six in the illustrated embodiment, sometimes referred to as "extendable clamping elements") carried by the second carrier plates 430.

[0063] like Figure 4AAs shown, the second carrier plates 430 (sometimes also referred to herein as "lower carrier plates" and / or "vertical carrier plates") each include one or more vertical mounting rails 432 (two are shown on the front second carrier plate 430a) and one or more second mounting rails 434 (one is shown on the front second carrier plate 430a, sometimes also referred to herein as "second horizontal mounting rails" and / or "horizontal mounting rails"). Each extendable clamping member 470 includes a clamping member mounting element 472 (e.g., a ball bearing bracket, a ball bearing slide plate, a slidable bracket, a transducer bracket, etc.) movably carried by the second mounting rail 434. The clamping member mounting element 472 and the second mounting rail 434 allow each extendable clamping member 470 to move (e.g., slide, adjust, etc.) along a first axis (e.g., x-axis). In turn, the position of each extendable clamping member 470 along the first axis can be controlled by a first spacing adjustment plate 440 (sometimes also referred to as a first "adjustment plate"), which is operably coupled to each second carrier plate 430 and the extendable clamping member 470 carried thereon (e.g., for the illustrated embodiment, resulting in four first spacing adjustment plates 440). To this end, in the illustrated embodiment, each extendable clamping member 470 includes a protrusion 473 (e.g., a bearing, a roller, a low friction element, etc.), and the first spacing adjustment plate 440 includes a spacing groove 442 (sometimes also referred to herein as a "spacing slot" and "spacing track") located in a first plane (e.g., having components in the first axis and the vertical axis and located in the xz plane). Each protrusion 473 cooperates with a separate spacing groove 442 such that the horizontal component of the spacing groove 442 controls the position of the protrusion 473 along the first axis when the first spacing adjustment plate 440 moves along the vertical axis. As a result, movement of the first spacing adjustment plate 440 along the vertical axis controls the position of each extendable clamping member 470 along the first axis.

[0064] In addition, in order to adjust the spacing of the extendable clamping members 470 along the first axis, the spacing grooves 442 may have a varying slope, such as toward the center portion of the first spacing adjustment plate 440. A spacing groove with a steeper slope (e.g., having a smaller component in the x-direction) will result in less movement along the first axis. Conversely, a spacing groove with a shallower slope (e.g., having a larger component in the x-direction) will result in more movement along the first axis. If the spacing grooves 442 are then arranged to have a slope that gradually decreases from the center portion to the peripheral portion, then when the first spacing adjustment plate 440 moves, the central extendable clamping members 470 will move less than the peripheral extendable clamping members 470. As a result, the movement of the first spacing adjustment plate 440 adjusts the spacing of the extendable clamping members 470 along the first axis.

[0065] An example of the spacing adjustment of the extendable clamping member 470 is shown in Figure 4A and Figure 4B In the illustrated embodiment, the spacing groove 442 is oriented so that ... Figure 4A and Figure 4B When the first spacing adjustment plate 440 moves downward, the spacing between the extendable clamping members 470 decreases (for example, the distance between adjacent clamping members 470 increases). Figure 4B The location and Figure 4A ), the spacing of the extendable clamping members 470 increases (e.g., the distance between adjacent clamping members 470 decreases). However, it should be understood that the spacing grooves 442 can be oriented in the opposite direction, so that the spacing of the extendable clamping members 470 decreases as the second spacing adjustment plate 450 moves upward, and increases as the second spacing adjustment plate 450 moves downward.

[0066] In order to control the spacing adjustment of the extendable clamping members 470, the object clamping assembly 320 includes a feature for controlling the vertical position of the first spacing adjustment plates 440. For example, in the illustrated embodiment, the first spacing adjustment plates 440 each include an adjustment plate mounting element 444 (e.g., a ball bearing bracket, a ball bearing slide, a slidable bracket, a transducer bracket, etc.) at least partially movably carried by a vertical mounting track 432 on each second carrier plate 430. One or more first deployable members 462 are carried by each second carrier plate 430 (e.g., one for each second carrier plate 430). The first deployable members 462 are operably coupled between the second carrier plate 430 and the corresponding first spacing adjustment plate 440, so that the expansion (or retraction) of the first deployable members 462 controls the vertical position of the first spacing adjustment plates 440. As a result, the expansion (or retraction) of the first deployable members 462 controls the spacing of the extendable clamping members 470 along the first axis.

[0067] In various embodiments, the first deployable members 462 may include various hydraulic cylinders (e.g., gas, liquid, and / or any other suitable hydraulic system), hydraulic struts, spring struts, torsionally driven deployment members, screw jacks, telescoping elements, telescoping rods integral to the housing, etc. In some embodiments, the first deployable members 462 are controlled simultaneously, resulting in a uniform adjustment of the spacing of the extendable clamping members 470 on each second carrier plate 430. In some embodiments, the first deployable portions 462 are independently adjustable, allowing the spacing of the deployable clamping members 470 to vary between the second carrier plates 430 (e.g., the spacing of the deployable clamping members 470 on the front second carrier plate 430a may be different than the spacing of the extendable clamping members 470 on the rear second carrier plate 430b).

[0068] In the illustrated embodiment, each spacing groove 442 has a slightly curved ramp. The curved ramp allows for consistent, uniform adjustment of the spacing of the extendable clamping members 470. That is, when the first spacing adjustment plate 440 moves in the vertical direction, the curved ramp can help keep the spacing between each extendable clamping member 470 equal. However, in various other embodiments, one or more spacing grooves 442 may have a linear ramp, resulting in constant adjustment of the attached clamping members along the first axis for any movement of the first spacing adjustment plate 440 along the vertical axis.

[0069] In addition to controlling the spacing of the extendable gripping members 470 along the first axis, the object gripping assembly 320 also includes features that control the spacing of the extendable gripping members 470 along a second axis (e.g., the y-axis) that is at least partially orthogonal to the first axis. Figure 4A and Figure 4B In addition, the first carrier plate 424 (sometimes also referred to as "upper carrier plate" and / or "horizontal carrier plate") has an upper surface 425a and a lower surface 425b opposite to the upper surface. The lower surface 425b may include one or more first mounting rails 426 (two are shown, sometimes also referred to as "first mounting rails" and / or "first horizontal mounting rails" in this article) extending along the second axis, and the second carrier plate 430 is movably carried by the first mounting rails 426. For example, in the illustrated embodiment, each second carrier plate 430 includes at least one carrier plate mounting element 436 (e.g., ball bearing bracket, ball bearing slide, slidable bracket, transducer bracket, etc.) for each first mounting rail 426 (e.g., two carrier plate mounting elements 436 are shown). The carrier plate mounting element 436 and the first mounting rail 426 allow each second carrier plate 430 to move (e.g., slide, adjust, etc.) along the second axis. The movement of the second carrier plate 430 also moves the extendable clamping member 470 carried thereon.

[0070] In addition, in the illustrated embodiment, the object clamping assembly includes one or more second spacing adjustment plates 450 (two are shown, one is labeled, sometimes also referred to as second "adjustment plates", "second spacing adjustment members" and / or "adjustment members") that are each operably coupled to the first carrier plate 424 and the second carrier plate 430 carried thereon. The second spacing adjustment plates 450 function similarly to the first spacing adjustment plates 440 described above to convert their vertical movement into horizontal adjustment of the second carrier plate 430 along the second axis.

[0071] For example, as shown, each second carrier plate 430 may include one or more protrusions 438 (e.g., one for each second spacing adjustment plate 450), and the second spacing adjustment plate 450 includes a spacing groove 452 located in a second plane (e.g., having components on the second axis and the vertical axis and located in the yz plane). Each protrusion 438 cooperates with a separate spacing groove 452, so that when the second spacing adjustment plate 450 moves along the vertical axis, the horizontal component of the spacing groove 452 controls the position of the protrusion 438 along the second axis. As a result, the movement of the second spacing adjustment plate 450 along the vertical axis controls the position of each second carrier plate 430 along the second axis.

[0072] In addition, similar to the above discussion, the spacing groove 452 may have a variable slope (shown here as being inclined toward the central portion of the second spacing adjustment plate 450) to adjust the spacing of the second carrier plate 430 along the second axis. The spacing groove 452 may then be arranged so that the slope gradually decreases from the central portion to the peripheral portion. As a result, when the second spacing adjustment plate 450 moves, the central second carrier plate 430 (e.g., the two central second carrier plates) will move less than the peripheral second carrier plates 430 (e.g., the front and rear second carrier plates), thereby adjusting the spacing of the second carrier plates 430. In the illustrated embodiment, the spacing groove 452 is oriented so that the spacing of the second carrier plates 430 increases as the second spacing adjustment plate 450 moves upward, and decreases as the second spacing adjustment plate 450 moves downward. However, it should be understood that the spacing groove 452 can be oriented in the opposite manner so that the spacing of the second carrier plates 430 decreases as the second spacing adjustment plate 450 moves upward, and increases as the second spacing adjustment plate 450 moves downward.

[0073] In order to control the spacing adjustment of the extendable clamping members 470 along the second axis, the object clamping assembly 320 can also include a feature to control the vertical position of the second spacing adjustment plate 450. For example, in the illustrated embodiment, one or more second expandable members 464 are carried by the first carrier plate 424 (e.g., one for each second spacing adjustment plate). The second expandable members 464 are operably coupled between the first carrier plate 424 and the corresponding second spacing adjustment plate 450, so that the expansion (or retraction) of the second expandable members 464 controls the vertical position of the second spacing adjustment plate 450. As a result, the expansion (or retraction) of the second expandable members 464 controls the spacing of the second carrier plate 430 and, therefore, the extendable clamping members 470 along the second axis.

[0074] As discussed above, each combination of the first deployable member 462, the first spacing adjustment plate 440, and the operative coupling therebetween can controllably adjust the spacing of the extendable clamping member 470. Therefore, each combination is sometimes collectively referred to as a "first spacing adjustment mechanism" and / or a "first spacing adjustment member" that controls the spacing of the extendable clamping member 470 along the first axis. Similarly, the second spacing adjustment plate 450 and the second deployable member 464 discussed above are sometimes collectively referred to as a "second spacing adjustment mechanism" and / or a "second spacing adjustment member" that controls the spacing of the second carrier plate 430 and, therefore, the extendable clamping member 470 carried thereon along the second axis.

[0075] like Figure 4A and Figure 4B As further shown in FIG. 4 , each extendable gripping member 470 includes an extendable body 474 and a gripping element 476 at the distal end of the extendable body 474. In various embodiments, the extendable body 474 may include various hydraulic cylinders (e.g., gas, liquid, and / or any other suitable hydraulic system), hydraulic struts, spring struts, torsion-driven deployment members, screw jacks, telescopic elements, telescopic rods integral to the housing, and / or any other deployment mechanism. In addition, in various embodiments, the gripping element 476 may include a suction element, a vacuum port, a magnetic component, a pneumatic gripper, a mechanical gripper, and / or any other suitable element.

[0076] The deployable body 474 drives movement of the gripping element 476 in a vertical direction (e.g., along the z-axis), thereby allowing for controllable raising and lowering of the gripping element 476. In some embodiments, each extendable gripping member 470 is independently controllable to extend and / or actuate the extendable gripping member 470, thereby allowing for any suitable subset of the extendable gripping members 470 to be operated at one time. By way of example only, when a row and / or column of extendable gripping members 470 is not needed for gripping and / or transporting a target object, the object gripping assembly 320 may omit that row and / or column during operation.

[0077] To facilitate independent operation, such as Figure 4A and Figure 4B As further shown in the figure, the object gripping assembly 320 may include a plurality of onboard controllers 480 (e.g., electrical controllers, vacuum ejectors, solenoids, etc.) operably coupled to the extendable gripping member 470. Additionally or alternatively, the onboard controllers 480 may be operably coupled to each of the first deployable member 462 and the second deployable member 464 to control the operation thereof. In various embodiments, each onboard controller 480 may be operably coupled to a centralized controller (not shown) on the object gripping assembly 320 and / or operably coupled to a centralized controller of the robotic system 100 (e.g., having Figure 2 The processor 202 Figure 1 Controller 109).

[0078] Figure 5 It is shown Figure 4A and Figure 4B An isometric view of a single second carrier plate 430 showing additional details of the first spacing adjustment component. Figure 5 In the illustrated embodiment, the second carrier plate 430 includes two vertical mounting rails 432 and a single second mounting rail 434. Additionally, in the illustrated embodiment, nine extendable clamping members 470 are carried by the second mounting rail 434. Each extendable clamping member 470 includes a single clamping member mounting element 472 slidably coupled to the second mounting rail 434. As a result, each extendable clamping member 470 is movable along a first axis (e.g., along an x-axis), but is fixed in position relative to the second carrier plate 430 along a vertical axis (e.g., a z-axis) and a second axis (e.g., a y-axis).

[0079] In the illustrated embodiment, a single first spacing adjustment plate 440 is slidably carried by a vertical mounting rail 432 via two adjustment plate mounting elements 444. As a result, the first spacing adjustment plate 440 is movable along the vertical axis but is fixed in place along the first and second axes. The first spacing adjustment plate 440 includes nine spacing grooves 442, each of which is operably coupled to a corresponding extendable clamping member 470. As described above, as the first spacing adjustment plate 440 moves, the changing slope of the spacing grooves 442 adjusts the spacing of the extendable clamping members 470. In the illustrated embodiment, a single expandable member 462 is carried by the second carrier plate 430 and is operably coupled to the first spacing adjustment plate 440. The expansion of the expandable member 462 causes the first spacing adjustment plate 440 to move along the vertical axis, thereby controlling the spacing of the extendable clamping members 470.

[0080] like Figure 5 As further shown in FIG. 4 , the second carrier plate 430 may include a stop mechanism 540. In the illustrated embodiment, the stop mechanism 540 includes a first stop member 542 and a second stop member 544. Figure 6 and Figure 7 Described in more detail, the first stopper 542 may be used to prevent the first spacing adjustment plate 440 from moving above a predetermined position relative to the second carrier plate 430. As a result, the first stopper 542 may set a maximum spacing of the extendable clamping member 470. Similarly, the second stopper 544 may be used to prevent the first spacing adjustment plate 440 from moving below a predetermined position relative to the second carrier plate 430. As a result, the second stopper 544 may set a minimum spacing of the extendable clamping member 470.

[0081] In some embodiments, the predetermined positions of the first stop 542 and the second stop 544 are adjustable. As a result, the minimum and / or maximum spacing of the extendable clamping member 470 can be set according to the intended use. By way of example only, the minimum spacing can be set to the first operating spacing, and the maximum spacing can be set to the second operating spacing. Subsequently, the extendable clamping member 470 can be quickly moved between the first operating spacing and the second operating spacing by quickly lowering and raising the first spacing adjustment plate 440 into the first stop 542 and the second stop 544. In various embodiments, the stop mechanism 540 can include any other suitable number of stops (e.g., one stop, two stops, five stops, ten stops and / or any other suitable number). In addition, in various embodiments, one or more stops on the stop mechanism 540 can have a fixed position. By way of example only, the stop mechanism 540 can include twenty stops positioned to incrementally adjust the spacing range of the extendable clamping member 470.

[0082] Figure 6 and Figure 7 is an isometric view of a stop mechanism 540 for spacing adjustment components according to some embodiments of the present technology. In the illustrated embodiment, the stop mechanism 540 includes a first stop 542 and a second stop 544 ( 546 ) in fixed incremental positions to set the maximum or minimum spacing of the extendable clamping member 470. Figure 5 ).like Figure 6 As best shown in FIG. 1 , each of the first stop 542 and the second stop 544 includes an adjustable slider 646 and a first engagement portion 648. The first stop 542 and the second stop 544 can be moved between an engaged position and a disengaged position. The adjustable slider 646 allows the first stop 542 and the second stop 544 to be moved from the engaged position to the disengaged position. For example, Figure 6 In the illustrated embodiment, the second stopper 544 is in the engaged position so that the first engagement portion 648 of the second stopper 544 contacts the second engagement portion 649 carried by the first spacing adjustment plate 440 to prevent the first spacing adjustment plate 440 from moving further upward. In the disengaged position, the first engagement portion 648 does not contact the second engagement portion 649, thereby allowing the first spacing adjustment plate 440 to move freely. Figure 7 As best shown in FIG. 6 , the adjustable slider 646 allows the first stop 542 and the second stop 544 to be quickly switched between an engaged position (eg, slid all the way to the left) and a disengaged position (eg, slid all the way to the right).

[0083] Fig. 8A and Figure 8B4 is an isometric view of a first spacing adjustment member at various spacing settings according to some embodiments of the present technology. In the illustrated embodiment, the spacing groove 442 is inclined so that raising the first spacing adjustment plate 440 decreases the spacing of the extendable clamping members 470, while lowering the first spacing adjustment plate 440 increases the spacing. For example, as shown in FIG. Fig. 8A As shown, when the expandable member 462 is fully retracted, the first spacing adjustment plate 440 is raised to a maximum height relative to the second carrier plate 430. As a result, the spacing of the expandable gripping members 470 is at a maximum, resulting in a close stacking of the expandable gripping members 470. The illustrated configuration can be used, for example, to pick up multiple small, closely packed target objects and / or relatively small, heavy target objects (e.g., requiring each expandable gripping member 470 to be firmly lifted). As shown in FIG. Figure 8B As shown, when the expandable member 462 is extended, the first spacing adjustment plate 440 is lowered relative to the second carrier plate 430. As a result, the spacing of the expandable clamping member 470 increases, resulting in a Fig. 8A Less densely packed than the extendable gripping members 470. The illustrated configuration may be used, for example, to pick up multiple smaller target objects and / or larger target objects (by, for example, spacing the gripping locations over a larger area).

[0084] However, as described above, it should be understood that the slope of the spacing groove 442 can be reversed, so that raising the first spacing adjustment plate 440 increases the spacing of the extendable clamping members 470, while lowering the first spacing adjustment plate 440 decreases the spacing. In addition, it should be understood that the expandable member 462 can be coupled between the second carrier plate 430 and the first spacing adjustment plate 440 at different locations, so that expansion of the expandable member 462 causes the first spacing adjustment plate 440 to be raised relative to the second carrier plate 430 rather than lowered.

[0085] Suitable methods for operating object holding components

[0086] Figures 9 to 11 is an isometric view of an object gripping assembly 320 at various operating parameters according to some embodiments of the present technology. At each of the illustrated operating parameters, the object gripping assembly 320 can be used to pick up, place and / or transfer a plurality of target objects 912, 1012, 1112 from a first location (e.g., a truck bed, a packaging container, etc.) in a carrier 910, 1010, 1110 to a second location (e.g., on a conveyor, to a second container, etc.).

[0087] exist Fig. 9In the illustrated embodiment, the object gripping assembly 320 includes thirty-six extendable gripping members 470, and the plurality of target objects 912 includes twenty objects to be lifted from the carrier 910. Thus, the object gripping assembly 320 (or a controller in communication therewith, such as a controller having Figure 2 The processor 202 Figure 1 The controller 109 of the embodiment of the present invention can determine the subset of the extendable gripping members 470 to be operated and the desired spacing of the subset of the extendable gripping members 470 on the first and second axes. In the illustrated embodiment, the operating parameters include adjusting the spacing of the extendable gripping members 470 to (or close to) the minimum spacing along the x-axis and to (or close to) the maximum spacing along the y-axis. The operating parameters also include operating every other extendable gripping member 470 along the x-axis (e.g., every other extendable gripping member 470 along a given second carrier plate 430). As a result of the operating parameters, the subset of twenty extendable gripping members 470 is well aligned to pick up multiple target objects 912 from the carrier 910. Therefore, as shown in the figure, during operation, only this subset of the extendable gripping members 470 is extended.

[0088] However, it should be understood that the operating parameters shown are merely examples of suitable operating parameters for multiple target objects 912. In various embodiments, the range of possible spacings of the extendable gripping members 470 may vary, thereby allowing (or requiring) alternative adjustments to the spacings. In addition, multiple spacings may allow a suitable subset of the extendable gripping members 470 to be aligned with the multiple target objects 912. Further, it should be understood that the object gripping assembly 320 may include any other suitable number of extendable gripping members 470 that are taken into account by the operating parameters. For example, the object gripping assembly 320 may include two, three, four, five, ten, fifteen, one hundred, one thousand, or any other suitable number of extendable gripping members 470, each of which is taken into account by the operating parameters.

[0089] In addition, Fig. 9In the illustrated embodiment, each extendable gripping member 470 may include an outer housing 972, an extendable rod 974 protruding a controllable distance from the outer housing 972, and a suction element 976 carried by the distal end of the extendable rod 974. The position of the extendable rod 974 may be controlled by any suitable hydraulic device, a screw mechanism, and / or any other suitable mechanism. In addition, each extendable rod 974 may place the corresponding suction element 976 in fluid communication with an actuator on the object gripping assembly 320 to control the gripping of the suction element 976. However, as described above, the extendable gripping member 470 may include various other hydraulic cylinders (e.g., gas, liquid, and / or any other suitable hydraulic device), hydraulic struts, spring struts, torsionally driven deployment components, screw jacks, and / or telescopic elements to move the gripping element along a vertical axis. Similarly, as described above, the gripping element may include another suction element, a vacuum port, a magnetic component, a pneumatic gripper, a mechanical gripper, and / or any other suitable element.

[0090] exist Fig.10 In the illustrated embodiment, the object gripping assembly 320 includes thirty-six extendable gripping members 470, and the plurality of target objects 1012 includes thirty-six objects. In addition, the carrier 1010 is configured to have a relatively dense stacking of the plurality of target objects 1012. The object gripping assembly 320 (or a controller in communication therewith, such as a controller having Figure 2 The processor 202 Figure 1 The controller 109 of the embodiment may determine the subset of extendable gripping members 470 to be operated and the desired spacing of the subset of extendable gripping members 470 on the first and second axes. Fig.10 As shown, the subset of expandable clamping members 470 may include all of the expandable clamping members 470 .

[0091] In the illustrated embodiment, the operating parameters include adjusting the spacing of the extendable gripping members 470 to a mid-distance spacing along the x-axis and to (or near) a minimum spacing along the y-axis. The operating parameters also include operating each extendable gripping member 470 on the object gripping assembly 320. As a result of the operating parameters, each extendable gripping member 470 is well aligned to pick up a corresponding target object from the carrier 1010. Therefore, as shown, all extendable gripping members 470 on the object gripping assembly 320 are operated simultaneously.

[0092] exist Fig.11 In the illustrated embodiment, the object gripping assembly 320 includes thirty-six extendable gripping members 470, and the plurality of target objects 1112 includes thirty-two objects to be picked up from the carrier 1110. The object gripping assembly 320 (or a controller in communication therewith, such as a controller having Figure 2 The processor 202 Figure 1A controller ) may determine a subset of the extendable clamping members 470 to be operated and a desired spacing of the subset of the extendable clamping members 470 on the first and second axes.

[0093] In the illustrated embodiment, the operating parameters include adjusting the spacing of the extendable gripping members 470 to (or near) a maximum spacing along the x-axis and to (or near) a minimum spacing along the y-axis. The operating parameters also include omitting a single extendable gripping member 470 from the longitudinal end of each second carrier plate 430. As a result of the operating parameters, a subset of thirty-two extendable gripping members 470 are well aligned to pick up corresponding target objects from the carrier 1110. Therefore, as shown, during operation, only this subset of extendable gripping members 470 is extended.

[0094] Fig.12 is a method for operating an object gripping assembly (e.g., Figure 3 4. The process 1200 may be performed by a controller on the object holding assembly itself (e.g., an onboard controller 480 discussed above with reference to FIG. 4) and / or an external controller (e.g., a controller having Figure 2 The processor 202 Figure 1 Controller 109) executes.

[0095] Process 1200 begins at box 1202, where a determination is made as to which extendable gripping members are to be operated. In some embodiments, the determination is based on images and / or scans of one or more target objects and / or carriers. In some embodiments, the determination is based on received information about one or more target objects and / or carriers (e.g., information about the weight of the target objects, the distribution of the target objects, the surface texture of the target objects, or any other information that may affect the gripping elements, and / or any other suitable information). In some embodiments, the determination includes planning multiple passes and determining which extendable gripping members are to be operated in each pass.

[0096] In box 1204, process 1200 includes determining the desired spacing of the extendable clamping parts being operated in a first direction (e.g., along a first axis, such as an x ​​or y axis). As described above, determining the spacing in the first direction can be based on images, scans and / or any other information received about one or more target objects and / or carriers. In addition, in some embodiments, determining the spacing is at least partially based on determining which extendable clamping parts to operate. For example, determining the spacing can be at least partially based on determining that only a subset of extendable clamping parts are operated. In another example, determining the spacing and determining which extendable clamping parts to operate can be performed simultaneously (e.g., determining which extendable clamping parts to operate can be partially based on which spacings can be used for different subsets of extendable clamping parts). In some embodiments, process 1200 includes independently determining the desired spacing of the extendable clamping parts for each second carrier plate (e.g., the spacing of the extendable clamping parts on the front carrier plate can be less than the extendable clamping parts on the rear carrier plate).

[0097] At block 1206, process 1200 includes placing one or more first expandable components (e.g., Figure 4A The first expandable member 462 of the present invention is retracted or extended to set the spacing of the expandable clamping members in the first direction to (or close to) the desired spacing. In some embodiments, the spacing is monitored by imaging components and / or other sensors. In some such embodiments, the first expandable member is expanded (or retracted) until the desired spacing is obtained. In some embodiments, the relationship between the state of the first expandable member and the spacing is known, and the expandable member is expanded (or retracted) without monitoring until the desired spacing is obtained.

[0098] At block 1208, process 1200 includes determining a desired spacing of the extendable gripping members in a second direction (e.g., along a second axis, such as a y or x axis), the second direction being at least partially orthogonal to the first direction. Similar to the spacing determination in the first direction, determining the spacing in the second direction can be based on images, scans, and / or any other information received about the one or more target objects and / or the carrier. Additionally, in some embodiments, determining the spacing is based at least in part on determining which extendable gripping members are to be operated (e.g., based at least in part on determining that only a subset of the extendable gripping members are to be operated, simultaneously with determining which subset of the extendable gripping members are to be operated, etc.).

[0099] At block 1210, process 1200 includes placing one or more second expandable components (e.g., Figure 4AThe second expandable member 464) is retracted or extended to set the spacing of the expandable clamping members in the second direction to (or close to) the desired spacing. As described above, in some embodiments, the spacing is monitored by imaging components and / or other sensors. In some such embodiments, the first expandable member is expanded (or retracted) until the desired spacing is obtained. In some embodiments, the relationship between the state of the first expandable member and the spacing is known, and the expandable member is expanded (or retracted) without monitoring until the desired spacing is obtained.

[0100] At block 1212, process 1200 includes operating the extendable gripping members at the set spacing. That is, at block 1212, process 1200 includes extending and / or actuating a subset of the extendable gripping members that the process at block 1202 determines to be operated in order to pick up, place down and / or transfer one or more target objects.

[0101] Since each extendable gripping member can be independently actuated to grip and / or release the target object, a subset of the target object gripped by the extendable gripping member can be selectively released at the destination. That is, for example, process 1200 can cause a first subset of extendable gripping members to stretch at a set spacing and actuate the first subset to pick up the target object at a pick-up position. Process 1200 can then actuate a second, third, fourth, etc. subset to selectively release the target object at one or more drop locations. In another example, process 1200 can cause a first subset of extendable gripping members to stretch at a set spacing and actuate the first subset to pick up the target object at a first pick-up position, then actuate a second subset of extendable gripping members at a set spacing and actuate the second subset to pick up the target object at a second pick-up position. In some embodiments, the spacing is not adjusted between two pick-up positions. In other embodiments, the spacing is adjusted between two pick-up positions, thereby allowing process 1200 to adapt to multiple spacings in a single operation. In some implementations, each of the two sets of desired spacings is determined at blocks 1204 and 1208 so that process 1200 can then re-execute blocks 1206 and 1210 without making additional determinations to adjust the spacings. In some implementations, process 1200 re-executes blocks 1204 to 1210 between the first pick location and the second pick location.

[0102] In some embodiments, selective operation enables the object clamping assembly 320 ( Figure 3) can be used as a buffer to temporarily hold a subset of target objects. For example, the robotic system can receive commands to pick up different target objects and place a combination of different target objects in groups at two or more different placement locations. In another example, the robotic system can receive commands to pick up target objects and place the combination of target objects sequentially, thereby allowing another component of the robotic system to pick up and / or otherwise move a subset of the picked target objects and then place another subset without the need for the object gripping assembly 320 ( Figure 3 ) to perform multiple pick operations.

[0103] It should be understood that in some embodiments, one or more of frames 1202-1210 may be combined, performed in different orders, and / or omitted altogether. By way of example only, determining which extendable clamping members to operate may include determining the desired spacing in the first and / or second directions. That is, determining which extendable clamping members to operate may include determining what spacing the extendable clamping members operated should be at. Therefore, in such embodiments, process 1200 may omit frames 1204 and 1208 to avoid redundant determination. In another example, the process may perform frames 1208 and 1210 before frames 1204 and 1206 and / or perform frame 1208 before frame 1206. In yet another example, frames 1204 and 1208 may be performed simultaneously and / or in parallel to simultaneously determine the desired spacing of the extendable clamping members in the first and second directions. Similarly, blocks 1206 and 1210 are performed simultaneously and / or in parallel to simultaneously set the spacing of the extendable clamping members to (or close to) a desired spacing in the first and second directions.

[0104] Fig.13 13 is a flow chart of a process 1300 for setting minimum and / or maximum spacing parameters for an object gripping assembly according to some embodiments of the present technology. Fig.12 Similar to process 1200 discussed above, process 1300 may be performed by a controller on the object gripping assembly itself (e.g., an onboard controller 480 discussed above with reference to FIG. 4 ) and / or an external controller (e.g., a controller having Figure 2 The processor 202 Figure 1 The process 1300 is discussed herein with reference to the one or more second expandable members 464 discussed above with reference to FIG. 4 . As described above, the second expandable member is operably coupled to the second carrier plate to set the spacing of the second carrier plate. However, it should be understood that a similar process may be performed on the first expandable member to set the minimum and / or maximum spacing parameters of the expandable clamping members on any given second carrier plate.

[0105] Process 1300 begins at frame 1302, and the second expandable member is expanded within the desired range of the second expandable member. As a result, the spacing of the second carrier plates is reduced to less than the desired maximum spacing. In some embodiments, the second expandable member is already within the desired range, thereby allowing process 1300 to skip frame 1302.

[0106] At block 1304, process 1300 includes placing a first stop mechanism in an engaged position to prevent the second deployable member from retracting beyond a first desired point, thereby preventing the actual spacing from increasing beyond a desired maximum value. In some embodiments, the desired maximum value may represent the larger of two or more operating spacings. In such embodiments, the first stop mechanism allows the object gripping assembly to quickly switch the spacing to a larger operating spacing by preventing the second deployable member from retracting beyond the first desired point. For example, the second deployable member may be quickly retracted and stopped by the first stop mechanism, rather than requiring careful retraction and precise stopping.

[0107] At block 1306, process 1300 includes retracting the second expandable member within the desired range of the expandable member. As a result, the spacing of the second carrier plate increases to below the minimum spacing. In some embodiments, the second expandable member is already within the desired range, allowing process 1300 to skip block 1306.

[0108] At block 1308, process 1300 includes placing a second stop mechanism in an engaged position to prevent the second deployable member from deploying beyond a second desired point, thereby preventing the actual spacing from decreasing beyond a desired minimum. In some embodiments, the desired minimum may represent the smaller of two or more operating spacings. In such embodiments, the first stop mechanism allows the object gripping assembly to quickly switch the spacing to a smaller operating spacing by preventing the second deployable member from deploying beyond the second desired point. For example, the deployable member may be quickly retracted and stopped by the second stop mechanism, rather than requiring careful retraction and precise stopping.

[0109] At box 1310, process 1300 includes operating the object holding assembly within a desired range. As described above, during operation, the first and second stop mechanisms prevent the second deployable member from moving, thereby allowing the object holding assembly to quickly switch between a minimum value and a maximum value. In a specific non-limiting example, the object holding assembly may have two operating spacings for a specific project. The first desired point may correspond to the larger of the two operating spacings, and the second first desired point may correspond to the smaller of the two operating spacings. In such an embodiment, the first and second stop mechanisms can accelerate the operation of the object holding assembly by allowing the object holding assembly to quickly switch between the two operating spacings (e.g., by eliminating the need to perform a slow alignment process or speed up the slow alignment process at each change). Based on space limitations, the first and second stop mechanisms can also prevent the spacing from increasing (or decreasing) beyond the desired point. As an example only, a maximum spacing can be set to prevent the spacing from encroaching on the space limitations of the carrier.

[0110] In addition, as described above, each extendable gripping member can be independently operated, thereby allowing the extendable gripping members to be extended and / or actuated to independently grip and / or release the target object. As a result, a subset of the target objects gripped by the extendable gripping members can be selectively released at any given destination, and / or any subset of the extendable gripping members can be operated at a given pick-up location to pick up the target object.

[0111] At block 1312, process 1300 includes placing the first and second stop mechanisms in a disengaged position and / or resetting the first and second stop mechanisms. Once moved to the disengaged position, the first and second stop mechanisms do not impede movement of the second deployable member, thereby returning the second deployable member to a full range of motion.

[0112] It should be understood that in some embodiments, one or more of blocks 1302-1310 may be combined, performed in a different order, and / or omitted altogether. By way of example only, as described above, when the second deployable member is already within the desired range, either of blocks 1302 or 1306 may be omitted. In another example, process 1300 may include setting only a single stop mechanism (e.g., setting a maximum spacing based on space requirements), and thus omitting blocks 1306 and 1308. In yet another example, when the second deployable member is already within the desired range, the process may combine blocks 1304 and 1308 to simultaneously set the first and second stop mechanisms. Further, in yet another example, process 1300 may perform blocks 1306 and 1308 before blocks 1302 and 1304 to engage the second stop mechanism before engaging the first stop mechanism.

[0113] Example

[0114] For example, the present technology is described according to the various aspects described below. For convenience, various examples of various aspects of the present technology are described as numbered examples (1, 2, 3, etc.). These examples are provided as examples and do not limit the present technology. It should be noted that any dependent examples can be combined in any suitable manner and placed in corresponding independent examples. Other examples can be presented in a similar manner.

[0115] 1. An object clamping assembly, comprising:

[0116] A first supporting plate, wherein the first supporting plate comprises:

[0117] an upper surface comprising a flange configured to be connected to a robotic arm; and

[0118] a lower surface, the lower surface opposite the upper surface, the lower surface comprising at least one first mounting track extending along a first axis on the lower surface;

[0119] a plurality of second carrier plates slidably carried by the at least one first mounting track on the first carrier plate, wherein each of the plurality of second carrier plates comprises:

[0120] at least one second mounting rail extending along a second axis at least partially orthogonal to the first axis; and

[0121] a plurality of extendable clamping members slidably carried by the at least one second mounting track;

[0122] a first adjustment plate operably coupled to the plurality of second carrier plates to adjust a spacing between the plurality of second carrier plates on the first axis; and

[0123] A plurality of second adjustment plates, each of which is carried by a corresponding second carrier plate and operably coupled to the plurality of extendable clamping members on the corresponding second carrier plate to adjust the spacing of the plurality of extendable clamping members on the second axis.

[0124] 2. The object clamping assembly of Example 1, further comprising an expandable component operably coupled to the first adjustment plate and the first supporting plate to adjust a position of the first adjustment plate relative to the first supporting plate.

[0125] 3. The object clamping assembly of example 2, wherein adjusting the position of the first adjustment plate relative to the first carrier plate changes a spacing of the plurality of second carrier plates along the first axis.

[0126] 4. The object holding assembly of any one of Examples 1-3, wherein:

[0127] Each of the plurality of second carrier plates further includes at least one vertical mounting rail extending on a vertical axis at least partially orthogonal to the first axis and the second axis;

[0128] Each of the plurality of second adjustment plates is slidably carried by the at least one vertical mounting track on the corresponding second carrier plate; and

[0129] The object clamping assembly further includes a plurality of deployable members, each of which is operably coupled to a corresponding second adjustment plate and the corresponding second carrier plate to adjust a position of the corresponding second adjustment plate relative to the corresponding second carrier plate.

[0130] 5. The object clamping assembly of example 4, wherein adjusting the position of the corresponding second adjustment plate relative to the corresponding second carrier plate changes the spacing of the plurality of extendable clamping members along the second axis.

[0131] 6. An object clamping assembly as described in any of Examples 1-5, wherein each of the plurality of second supporting plates further comprises a sliding stop operable between an engaged position and a disengaged position, wherein in the engaged position, the sliding stop prevents the corresponding second adjustment plate from moving beyond a predetermined position.

[0132] 7. The object clamping assembly of any of Examples 1-6, wherein each of the plurality of extendable clamping members comprises:

[0133] an extendable assembly having a proximal end slidably carried by the at least one second mounting rail and a distal end opposite the proximal end; and

[0134] A gripping element is carried by the distal end, wherein the extendable member is configured to extend and retract along a vertical axis that is at least partially orthogonal to the first axis and the second axis.

[0135] 8. An object clamping assembly as described in any of Examples 1-7, wherein each of the plurality of extendable clamping members is capable of independently extending.

[0136] 9. An object clamping assembly as described in any of Examples 1-8, wherein one or more of the plurality of extendable clamping components includes a distal end and a clamping element at the distal end, the clamping element comprising one or more of the following: a suction element, a vacuum port, a magnetic component, a pneumatic gripper, or a mechanical gripper.

[0137] 10. A method of operating an object holding assembly having a plurality of independently operable holding members, the method comprising:

[0138] determining a set of the plurality of clamping components to be operated during a clamping operation;

[0139] determining a first desired spacing of the set of the plurality of clamping members along a first axis;

[0140] determining a second desired spacing of the set of the plurality of clamping members along a second axis at least partially orthogonal to the first axis;

[0141] generating a command for operating a first deployable member along a third axis at least partially orthogonal to the first axis and the second axis, wherein operating the first deployable member along the first axis adjusts a first actual spacing of at least a portion of the set of the plurality of gripping members toward the first desired spacing; and

[0142] A command is generated for operating a second expandable member along the third axis, wherein operating the second expandable member adjusts a second actual spacing of the set of the plurality of gripping members along the first axis toward the first desired spacing.

[0143] 11. The method of Example 10, wherein each of the plurality of clamping members comprises an expandable body, and wherein the method further comprises generating a command for each of the clamping members in the group of the plurality of clamping members to extend the expandable body.

[0144] 12. The method of any of examples 10-11, wherein the clamping operation is a first clamping operation, and the group of the plurality of clamping members is a first group, and wherein the method further comprises:

[0145] determining a second group of the plurality of clamping components to operate during a second clamping operation;

[0146] determining a third desired spacing of the second set of the plurality of clamping members along the first axis;

[0147] determining a fourth desired spacing of the second set of the plurality of clamping members along the second axis;

[0148] generating a command for further operating the first expandable member along the third axis, wherein further operating the first expandable member along the first axis adjusts a third actual spacing of at least a portion of the second set of the plurality of gripping members toward the third desired spacing; and

[0149] A command is generated for further operating the second expandable member along the third axis, wherein further operating the second expandable member adjusts a fourth actual spacing of the second set of the plurality of gripping members along the first axis toward the fourth desired spacing.

[0150] 13. The method of example 12, determining the second group of the plurality of clamping members comprises determining the second group of the plurality of clamping members different from those in the first group of the plurality of clamping members.

[0151] 14. The method of any one of Examples 10-13, further comprising:

[0152] generating a command for lowering the set of the plurality of gripping members toward one or more objects to be moved;

[0153] generating commands for operating the set of the plurality of gripping members to attach to the one or more objects; and

[0154] The set of the plurality of clamping members is raised while the set of the plurality of clamping members is attached to the one or more objects.

[0155] 15. The method of any of Examples 10-14, further comprising generating a command for positioning a slidable stop to prevent the first deployable member from deploying beyond a predetermined position prior to operating the first deployable member along the third axis.

[0156] 16. A robot system, comprising:

[0157] Robotic arms; and

[0158] An object holding assembly, the object holding assembly being carried by the mechanical arm, the object holding assembly comprising:

[0159] a first carrier plate having a first mounting track extending along a first axis;

[0160] Two or more second carrier plates, the two or more second carrier plates being movably carried by the first mounting rail, wherein each of the two or more second carrier plates comprises:

[0161] a second mounting rail extending along a second axis at least partially orthogonal to the first axis; and

[0162] two or more extendable clamping members, the two or more extendable clamping members being movably carried by the second mounting track on the second carrying plate;

[0163] a first spacing adjustment component operably coupled to the first carrier plate and the two or more second carrier plates, the first spacing adjustment component being configured to controllably change a first spacing between the two or more second carrier plates along the first mounting track;

[0164] Two or more second spacing adjustment components are operably connected to the corresponding second carrier plate and the two or more extendable clamping components carried by the second mounting track, and each of the two or more second spacing adjustment components is configured to controllably change the second spacing between the two or more extendable clamping components along the second mounting track.

[0165] 17. The robot system of example 16, wherein the first spacing adjustment component comprises:

[0166] a spacing adjustment plate having two or more grooves operably coupled to the two or more second carrier plates, wherein the two or more grooves are partially oriented along the first axis, and wherein a position of the spacing adjustment plate relative to the first carrier plate at least partially positions the two or more second carrier plates operably coupled to the two or more grooves; and

[0167] An expandable member is operably coupled to the first carrier plate and the spacing adjustment plate, wherein expansion and retraction of the expandable member changes a position of the spacing adjustment plate relative to the first carrier plate.

[0168] 18. The robotic system of any of Examples 16-17, wherein each of the two or more second spacing adjustment components comprises:

[0169] a spacing adjustment plate having two or more grooves operably coupled to the two or more extendable clamping members, wherein the two or more grooves are partially oriented along the second axis, and wherein the position of the spacing adjustment plate relative to the corresponding second carrier plate at least partially positions the two or more extendable clamping members operably coupled to the two or more grooves; and

[0170] An expandable member is operably coupled to the corresponding second carrier plate and the spacing adjustment plate, wherein expansion and retraction of the expandable member changes the position of the spacing adjustment plate relative to the corresponding second carrier plate.

[0171] 19. The robotic system of any of Examples 16-18, wherein each of the two or more extendable gripping members on each of the two or more second carrier plates is independently extendable.

[0172] 20. A robotic system as described in any of Examples 16-19, wherein each of the two or more extendable clamping members on each of the two or more second supporting plates includes a distal end and at least one of a clamping element at the distal end, the clamping element comprising one or more of the following: a suction element, a vacuum port, a magnetic member, a pneumatic gripper, or a mechanical gripper.

[0173] 21. The robotic system of any of Examples 16-19, further comprising a processor operably coupled to the robotic arm and / or the object gripping assembly.

[0174] 22. The robot system of example 21, wherein the processor is configured to:

[0175] determining a set of the plurality of two or more extendable clamping elements to be operated during a clamping operation;

[0176] determining a desired spacing of the set of the two or more extendable gripping elements along the first axis; and

[0177] The first spacing adjustment component is operated to adjust the actual spacing of the set of the two or more extendable clamping elements toward the desired spacing.

[0178] 23. The robotic system of any of Examples 21 and 22, wherein the processor is configured to:

[0179] determining a set of the plurality of two or more extendable clamping elements on each of the second carrier plates to be operated during a clamping operation;

[0180] determining a desired spacing of the set of the two or more extendable gripping elements along the second axis; and

[0181] The two or more second spacing adjustment components are operated to adjust the actual spacing of the set of the two or more extendable clamping elements toward the desired spacing.

[0182] 24. An object clamping assembly, the object clamping assembly comprising:

[0183] a first carrier plate having a first mounting track extending along a first axis;

[0184] Two or more second carrier plates, the two or more second carrier plates being movably carried by the first mounting rail, wherein each of the two or more second carrier plates comprises:

[0185] a second mounting rail extending along a second axis at least partially orthogonal to the first axis; and

[0186] a plurality of extendable clamping elements carried by the second mounting track on the second carrying plate;

[0187] a first spacing adjustment component operably coupled to the first carrier plate and the two or more second carrier plates, the first spacing adjustment component being configured to controllably adjust a first spacing of the plurality of extendable clamps along the first axis;

[0188] A second spacing adjustment component is operably coupled to the corresponding second carrier plate and the two or more extendable clamping elements carried by the second mounting rail, the second spacing adjustment component being configured to controllably adjust a second spacing of the plurality of extendable clamping elements along the second axis.

[0189] 25. An object clamping assembly, the object clamping assembly comprising:

[0190] a first loading plate;

[0191] a plurality of second carrier plates, the plurality of second carrier plates being carried by the first plate, wherein each of the plurality of second carrier plates comprises:

[0192] a mounting track extending along a horizontal axis;

[0193] a plurality of extendable clamping elements movably carried by the mounting track on the second carrying plate; and

[0194] A plurality of spacing adjustment components, each of the plurality of operable spacing adjustment components is connected to a corresponding second carrier plate and the two or more extendable clamping elements carried by the corresponding second carrier plate, wherein each of the plurality of operable spacing adjustment components is configured to controllably adjust the spacing of the plurality of extendable clamping elements along the horizontal axis.

[0195] 26. The object clamping assembly of example 25, wherein each of the plurality of operable spacing adjustment components comprises:

[0196] a spacing adjustment plate having a plurality of grooves operably and independently coupled to the plurality of extendable clamping elements carried by a corresponding second carrier plate, wherein a position of the spacing adjustment plate relative to the corresponding second carrier plate at least partially positions the plurality of extendable clamping elements operably coupled to the plurality of more grooves; and

[0197] An expandable member is operably coupled to the corresponding second carrier plate and the spacing adjustment plate, wherein expansion and retraction of the expandable member changes the position of the spacing adjustment plate relative to the corresponding second carrier plate.

[0198] 27. The object clamping assembly of any of Examples 25-26, wherein each of the plurality of extendable clamping elements on each of the plurality of second carrier plates is independently extendable.

[0199] 28. An object clamping assembly as described in any of Examples 25-27, wherein the first carrier plate includes a flange that can be connected to a robotic positioning system, and wherein the flange includes one or more communication channels that can be operably connected to the plurality of spacing adjustment components.

[0200] 29. The object clamping assembly of any of Examples 25-28, further comprising a controller carried by the first mounting plate, wherein the controller is operably coupled to each of the plurality of extendable clamping elements and each of the plurality of spacing adjustment components.

[0201] in conclusion

[0202] From the above, it will be understood that the specific embodiments of the present technology have been described herein for illustration, but the well-known structure and function are not shown or described in detail, so as not to unnecessarily cover the description of the embodiments of the present technology. If any material incorporated herein by reference conflicts with the present disclosure, the present disclosure shall prevail. Where the context permits, singular or plural terms can also include plural or singular terms respectively. In addition, unless the word "or" is clearly limited to refer only to a single item different from other items in two or more project lists, the use of "or" in such lists should be interpreted as including any single item in (a) list, all items in (b) list, or any combination of items in (c) list. In addition, as used herein, the phrase "and / or" in "A and / or B" refers to a single A, a single B, and both A and B. In addition, the terms "including", "comprising", "having" and "with" are used throughout to represent at least including the listed features, so as not to exclude any more number of the same features and / or other features of the additional type.

[0203] From the above, it should also be understood that various modifications can be made without departing from the present disclosure or technology. For example, it will be understood by those of ordinary skill in the art that the various components of the present technology can be further divided into sub-components, or the various components and functions of the present technology can be combined and integrated. In addition, some aspects of the present technology described in the context of a specific embodiment can also be combined or eliminated in other embodiments. In addition, although the advantages associated with some embodiments of the present technology have been described in the context of those embodiments, other embodiments can also show such advantages, and not all embodiments must show such advantages to belong to the scope of the present technology. Therefore, the present disclosure and related technologies can cover other embodiments not clearly shown or described herein.

Claims

1. An object clamping assembly, comprising: A first supporting plate, wherein the first supporting plate comprises: an upper surface including a flange configured to be connected to a robotic arm; as well as a lower surface, the lower surface opposite the upper surface, the lower surface comprising at least one first mounting track extending along a first axis on the lower surface; a plurality of second carrier plates slidably carried by the at least one first mounting track on the first carrier plate, wherein each of the plurality of second carrier plates comprises: at least one second mounting rail extending along a second axis at least partially orthogonal to the first axis; a plurality of extendable clamping members slidably carried by the at least one second mounting track; and a slide stop operable between an engaged position and a disengaged position; a first spacing adjustment plate operably coupled to the plurality of second carrier plates to adjust a spacing of the plurality of second carrier plates on the first axis; and a plurality of second spacing adjustment plates, each of which is carried by a corresponding second carrier plate and operably connected to the plurality of extendable clamping members on the corresponding second carrier plate to adjust the spacing of the plurality of extendable clamping members on the second axis, wherein in the engaged position, the sliding stopper on each of the plurality of second carrier plates prevents the corresponding second spacing adjustment plate from moving beyond a predetermined position.

2. The object clamping assembly of claim 1, further comprising an expandable member operably coupled to the first spacing adjustment plate and the first carrier plate to adjust a position of the first spacing adjustment plate relative to the first carrier plate.

3. The object clamping assembly of claim 2, wherein adjusting the position of the first spacing adjustment plate relative to the first carrier plate changes the spacing of the plurality of second carrier plates along the first axis.

4. The object holding assembly of claim 1, wherein: Each of the plurality of second carrier plates further includes at least one vertical mounting rail extending on a vertical axis at least partially orthogonal to the first axis and the second axis; Each of the plurality of second spacing adjustment plates is slidably carried by the at least one vertical mounting track on the corresponding second carrier plate; and The object clamping assembly further includes a plurality of deployable members, each of which is operably coupled to a corresponding second spacing adjustment plate and the corresponding second carrier plate to adjust a position of the corresponding second spacing adjustment plate relative to the corresponding second carrier plate.

5. The object clamping assembly of claim 4, wherein adjusting the position of the corresponding second spacing adjustment plate relative to the corresponding second carrier plate changes the spacing of the plurality of extendable clamping members along the second axis.

6. The object clamping assembly of claim 1, wherein each of the plurality of extendable clamping members comprises: an extendable body having a proximal end slidably carried by the at least one second mounting rail and a distal end opposite the proximal end; as well as A gripping element is carried by the distal end, wherein the extendable body is configured to extend and retract along a vertical axis at least partially orthogonal to the first axis and the second axis to adjust a position of the gripping element along the vertical axis.

7. The object clamping assembly of claim 1, wherein each of the plurality of extendable clamping members is independently extendable.

8. An object clamping assembly as described in claim 1, wherein one or more of the multiple extendable clamping components include a distal end and a clamping element at the distal end, and the clamping element includes one or more of the following: a suction element, a vacuum port, a magnetic component, a pneumatic gripper, or a mechanical gripper.

9. A method of operating an object holding assembly having a plurality of independently operable holding members, the method comprising: determining a set of the plurality of clamping components for operation during a clamping operation; determining a first desired spacing of the set of the plurality of clamping members along a first axis; determining a second desired spacing of the set of the plurality of clamping members along a second axis at least partially orthogonal to the first axis; generating a command for positioning a slidable stop to prevent a first deployable member from deploying beyond a predetermined position prior to operating the first deployable member along a third axis, the third axis being at least partially orthogonal to the first axis and the second axis; generating a command for operating a first expandable member along the third axis, wherein operating the first expandable member adjusts a first actual spacing of at least a portion of the set of the plurality of gripping members toward the first desired spacing along the first axis; as well as A command is generated for operating a second expandable member along the third axis, wherein operating the second expandable member along the second axis adjusts a second actual spacing of the set of the plurality of gripping members toward the second desired spacing.

10. The method of claim 9, wherein each of the plurality of clamping members comprises an expandable body, and wherein the method further comprises generating a command for each of the clamping members in the set of the plurality of clamping members to extend the expandable body.

11. The method of claim 9, wherein the clamping operation is a first clamping operation and the group of the plurality of clamping members is a first group, and wherein the method further comprises: determining a second group of the plurality of clamping components to operate during a second clamping operation; determining a third desired spacing of the second set of the plurality of clamping members along the first axis; determining a fourth desired spacing of the second set of the plurality of clamping members along the second axis; generating a command for further operating the first expandable member along the third axis, wherein further operating the first expandable member along the first axis adjusts a third actual spacing of at least a portion of the second set of the plurality of gripping members toward the third desired spacing; and A command is generated for further operating the second expandable member along the third axis, wherein further operating the second expandable member along the second axis adjusts a fourth actual spacing of the second set of the plurality of gripping members toward the fourth desired spacing.

12. The method of claim 11, wherein determining the second group of the plurality of clamping members comprises determining the second group of the plurality of clamping members different from those in the first group of the plurality of clamping members.

13. The method of claim 9, further comprising: generating a command for lowering the set of the plurality of gripping members toward one or more objects to be moved; generating commands for operating the set of the plurality of gripping members to attach to the one or more objects; as well as A command is generated for raising the set of the plurality of gripping members while the set of the plurality of gripping members is attached to the one or more objects.

14. A robot system, comprising: Robotic arm; as well as An object gripping assembly, the object gripping assembly being attached to the robotic arm, the object gripping assembly comprising: a first carrier plate having a first mounting track extending along a first axis; Two or more second carrier plates, the two or more second carrier plates being movably carried by the first mounting rail, wherein each of the two or more second carrier plates comprises: a second mounting rail extending along a second axis at least partially orthogonal to the first axis; two or more extendable clamping members movably carried by the second mounting track on the second carrying plate; and a slide stop slidably operable between an engaged position and a disengaged position; a first spacing adjustment component operably coupled to the first carrier plate and the two or more second carrier plates, the first spacing adjustment component being configured to controllably change a first spacing between the two or more second carrier plates along the first mounting track; Two or more second spacing adjustment components, the two or more second spacing adjustment components are operably connected to the corresponding second carrier plate and the two or more extendable clamping components carried by the second mounting track, each of the two or more second spacing adjustment components is configured to controllably change the second spacing between the two or more extendable clamping components along the second mounting track, wherein in the engaged position, the sliding stop on each of the two or more second carrier plates prevents the corresponding second spacing adjustment component from moving beyond a predetermined position.

15. The robot system of claim 14, wherein the first spacing adjustment component comprises: a spacing adjustment plate having two or more grooves operably coupled to the two or more second carrier plates, wherein the two or more grooves are partially oriented along the first axis, and wherein a position of the spacing adjustment plate relative to the first carrier plate at least partially positions the two or more second carrier plates operably coupled to the two or more grooves; as well as An expandable member is operably coupled to the first carrier plate and the spacing adjustment plate, wherein expansion and retraction of the expandable member changes a position of the spacing adjustment plate relative to the first carrier plate.

16. The robot system of claim 14, wherein each of the two or more second spacing adjustment components comprises: a spacing adjustment plate having two or more recesses operably coupled to the two or more extendable clamping members, wherein the two or more recesses are partially oriented along the second axis, and wherein a position of the spacing adjustment plate relative to the corresponding second carrier plate at least partially positions the two or more extendable clamping members operably coupled to the two or more recesses; as well as An expandable member is operably coupled to the corresponding second carrier plate and the spacing adjustment plate, wherein expansion and retraction of the expandable member changes the position of the spacing adjustment plate relative to the corresponding second carrier plate.

17. The robotic system of claim 14, wherein each of the two or more extendable gripping members on each of the two or more second carrier plates is independently extendable.

18. The robotic system of claim 14, wherein each of the two or more extendable clamping members on each of the two or more second supporting plates comprises a distal end and at least one of a clamping element at the distal end, the clamping element comprising one or more of: a suction element, a vacuum port, a magnetic member, a pneumatic gripper, or a mechanical gripper.

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